CN104890003A - Three-claw gripping device - Google Patents
Three-claw gripping device Download PDFInfo
- Publication number
- CN104890003A CN104890003A CN201510332901.5A CN201510332901A CN104890003A CN 104890003 A CN104890003 A CN 104890003A CN 201510332901 A CN201510332901 A CN 201510332901A CN 104890003 A CN104890003 A CN 104890003A
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- hole
- scroll chuck
- holding tank
- pawl
- jaw clamp
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Abstract
The invention relates to a three-claw gripping device which is characterized by comprising a three-claw chuck, a three-claw clip, a telescopic rod and three claw fingers, wherein the upper part of the telescopic rod is fixed on the three-claw chuck; the lower part of the telescopic rod is connected with the three-claw clip; the upper parts of the three claw fingers are fixed in clamping grooves of the three-claw clip, respectively; three claws are uniformly distributed in the circumferential direction of the three-claw chuck; an angle between two adjacent claws is 120 degrees; a central through hole is formed in the center of the three-claw chuck; a linear bearing is arranged in the central through hole; one clamping groove is arranged outside each claw of the three-claw chuck; threaded through holes are formed in two sides of each clamping groove; distances between the threaded through holes and the central through hole are equal; the three-claw clip and the three-claw chuck have the same shape structure; threads are arranged in the central through hole in the three-claw clip.
Description
Technical field
The present invention relates to a kind of three-jaw grabbing device, particularly relating to a kind of for capturing the cylinders such as filling beer or ellipsoidal grabbing device.
Background technology
Grabbing device can be applicable to the crawl of product in production field.Manipulator is auxiliary equipment very conventional in industrial production, is mainly used to capture industrial products.Existing machinery hand mostly is two pawls, two contacts are only had when capturing cylinder or ellipsoid, not firm, three-jaw hand has three contacts when capturing cylinder or ellipsoid, but the pawl of existing three claw robot refers to mostly be radial translation, and what realize that pawl refers to closes up crawl object, this type of three claw robot relates to the radial direction and axial bidirectional-movement that pawl refers to, complex structure, whole mechanism size is large, is unfavorable for grasping manipulation.In addition, existing gripper adopts pneumatic structure usually, because its mechanism is complicated and manufacture difficulty and poor controllability, accurate folding cannot be realized, complex structure also can cause the raising of manipulator cost simultaneously, easily damage in practice principle, the operating efficiency directly affecting device crawl is forbidden in action.
Summary of the invention
For the deficiencies in the prior art, the technical problem to be solved in the present invention is, a kind of three-jaw grabbing device is provided, this apparatus structure is simple, flexible movements, be easy to manufacture, controllability is good, three pawls refer to realize accurate folding simultaneously, are specially adapted to the cylinders such as filling beer or ellipsoidal accurate crawl.
The present invention solve the technical problem adopted technical scheme, a kind of three-jaw grabbing device is provided, it is characterized in that this device comprises scroll chuck, three-jaw clamp, expansion link and three pawls and refers to, the top of expansion link is fixed on scroll chuck, the bottom of expansion link is connected with three-jaw clamp, the top that three pawls refer to is separately fixed in the holding tank of scroll chuck, and the bottom that three pawls refer to is separately fixed in the holding tank of three-jaw clamp;
Described scroll chuck has been uniformly distributed circumferentially three pawls, angle between adjacent two pawls is 120 °, scroll chuck center is provided with central through hole, linear bearing is provided with in described central through hole, the outside of each pawl of scroll chuck is equipped with a holding tank, the both sides of holding tank are equipped with tapped through hole, and this tapped through hole is equal to the distance of scroll chuck central through hole; The shape and structure of described three-jaw clamp is identical with the shape and structure of scroll chuck, is provided with screw thread in the central through hole on three-jaw clamp; Expansion link top is fixedly connected with scroll chuck central through hole by linear bearing, and expansion link and linear bearing are interference fit, and bottom is connected by the central through hole of screw thread with three-jaw clamp; The upper end of described expansion link is connected with external drive mechanism, and described pawl refers to that top is provided with hollow circular hole, is provided with roller bearing in hollow circular hole, and pawl refers to that bottom is provided with groove; Pawl refers to that the width of the thickness on top and the holding tank of scroll chuck matches, pawl refers to that the width that bottom is provided with the thickness of the part of groove and the holding tank of three-jaw clamp matches, by the hollow circular hole that bearing pin refers to through the tapped through hole of holding tank both sides and the pawl of scroll chuck, the top referred to by pawl is fixed in the holding tank of scroll chuck, and the roller bearing in this bearing pin and hollow circular hole is interference fit; Referred to the groove of bottom through the tapped through hole of the holding tank both sides on three-jaw clamp and pawl by bearing pin, the bottom referred to by pawl is fixed in the holding tank of three-jaw clamp.
Compared with prior art, the folding that the present invention is referred to by flexible drive three pawls of expansion link, further simplify the structure of grabbing device, reduces the size of grabbing device, reduce cost; And the present invention is controlled good, by means of only the action of same external drive mechanism, three pawls can be driven to refer to simultaneously action, achieve that three pawls refer to accurate while opening and closing.Structure of the present invention is simple, can capture object many, be particularly useful for cylinder or ellipsoidal crawl, and capture firmly, efficiency is high, and this device manufacture craft is simple, is suitable for commercial introduction and uses.
Accompanying drawing explanation
Fig. 1 is the perspective view of a kind of embodiment of three-jaw grabbing device of the present invention;
Fig. 2 is the perspective view of the scroll chuck 1 of a kind of embodiment of three-jaw grabbing device of the present invention;
Fig. 3 is the perspective view that the pawl of a kind of embodiment of three-jaw grabbing device of the present invention refers to 4;
Fig. 4 is the detonation configuration schematic diagram of a kind of embodiment of three-jaw grabbing device of the present invention;
In figure, 1. scroll chuck, 2. three-jaw clamp, 3. expansion link, 4. pawl refer to; 11. linear bearings, 12. holding tanks, 13. tapped through holes, 14. central through holes, 41. hollow circular holes, 42. grooves, 43. roller bearings.
Detailed description of the invention
Below in conjunction with embodiment and accompanying drawing, describe the present invention in detail.Specific embodiment be only to invention explanation in further detail and explanation, do not limit the protection domain of the claims in the present invention with this.
Three-jaw grabbing device of the present invention (is called for short device, see Fig. 1-4) comprise scroll chuck 1, three-jaw clamp 2, expansion link 3 and three pawls and refer to 4, the top of expansion link 3 is fixed on scroll chuck 1, the bottom of expansion link is connected with three-jaw clamp 2, three pawls refer to that the top of 4 is separately fixed in the holding tank of scroll chuck 1, and three pawls refer to that the bottom of 4 is separately fixed in the holding tank of three-jaw clamp 2;
Described scroll chuck 1 (see Fig. 2) has been uniformly distributed circumferentially three pawls, angle between adjacent two pawls is 120 °, scroll chuck center is provided with central through hole 14, linear bearing 11 is provided with in described central through hole 14, the outside of each pawl of scroll chuck is equipped with a holding tank 12, the both sides of holding tank are equipped with tapped through hole 13, and this tapped through hole 13 is equal to the distance of scroll chuck central through hole 14; The shape and structure of described three-jaw clamp 2 is identical with the shape and structure of scroll chuck 1, is provided with screw thread in the central through hole on three-jaw clamp 2; Expansion link 3 top is fixedly connected with scroll chuck central through hole 14 by linear bearing 11, and expansion link 3 and linear bearing 11 are interference fit, and bottom is connected by the central through hole of screw thread with three-jaw clamp 2; The upper end of described expansion link 3 is connected with external drive mechanism, and described pawl refers to that 4 (see Fig. 3) top is provided with hollow circular hole 41, and is provided with roller bearing 43 in hollow circular hole 41, and pawl refers to that bottom is provided with groove 42; Pawl refers to that the width of the thickness on top and the holding tank 12 of scroll chuck matches, pawl refers to that the width that bottom is provided with the thickness of the part of groove 42 and the holding tank of three-jaw clamp 2 matches, by the hollow circular hole 41 that bearing pin refers to through the tapped through hole 13 of holding tank both sides and the pawl of scroll chuck, pawl is referred to the top of 5 is fixed in the holding tank 12 of scroll chuck, and the roller bearing 43 in this bearing pin and hollow circular hole 41 is interference fit; Referred to the groove 42 of bottom by bearing pin through the tapped through hole of the holding tank both sides on three-jaw clamp 2 and pawl, pawl is referred to the bottom of 5 is fixed in the holding tank of three-jaw clamp 2.
Of the present inventionly be further characterized in that the volume of described scroll chuck 1 to be the volume of three-jaw clamp 2 be that 1.5-2 doubly, on scroll chuck 1, tapped through hole be that the tapped through hole of the both sides of holding tank on three-jaw clamp 2 is to 1.1-1.3 times of the distance of the central through hole of three-jaw clamp 2 to the central through hole distance of scroll chuck 1.
Of the present inventionly be further characterized in that described holding tank 12 is for N-shaped groove or rectangular channel, the shape of the holding tank of scroll chuck 1 and specification must guarantee to insert also fixed claw and refer to the top of 4, the shape of the holding tank on three-jaw clamp 2 and specification must guarantee to insert the bottom groove part that pawl refers to 4, and at pawl, three-jaw clamp 2 can refer to that the part that 4 bottoms are provided with groove moves up and down.
Of the present inventionly be further characterized in that described pawl refers to that the inwall of the groove 42 of 4 bottoms is provided with one deck non-ferrous metal or copper plated material, as metallic copper, copper plated steel etc., the sliding friction between bearing pin and groove can be reduced further.
Of the present inventionly be further characterized in that described bearing pin is that non-ferrous metal or copper plated material are made, ensure that bearing pin self has good corrosion resistance and wearability.
The course of work of apparatus of the present invention is: external drive mechanism is for cylinder.Cylinder action, promotes expansion link 3 and moves, and the motion of expansion link 3 drives the movement of three-jaw clamp 2, and three pawls refer to that 4 open.Outside mechanical arm is connected with scroll chuck 1, apparatus of the present invention is moved to the position that will capture object, and and object contact.Cylinder moves again, promotes expansion link 3, and the motion of expansion link 3 drives three-jaw clamp 2 to move, and three pawls refer to that 4 share, and complete and are caught by object.And then carry apparatus of the present invention by mechanical arm, captured object is moved to target bit.Completed the expansion action of the application's device again by the motion of cylinder, decontrol the object captured, outside robotic arm drives apparatus of the present invention to get back to initial position, completes the grasping movement of object, completes the course of work of apparatus of the present invention simultaneously.
Fig. 1 is that three pawls of apparatus of the present invention refer to 4 states of opening, and during expansion link 3 slide downward, three pawls refer to that 4 open simultaneously, and during expansion link 3 upward sliding, three pawls refer to that 4 close simultaneously.When expansion link 3 slides up and down, expansion link 3 drives three-jaw clamp 2 to move, and then drive three-jaw clamp 2 to refer to that the bearing pin of 4 connections refers to slide up and down in the groove of 4 at corresponding pawl to three pawls, scroll chuck 1 is not mobile with the slip of expansion link 3, scroll chuck 1 mainly play the guiding role to expansion link 3, and three pawls refer to that 4 tops are fixed on scroll chuck 1, and three pawls refer to 4 bottom sliding up and down by bearing pin, make three pawls refer to that 4 complete opening and closing simultaneously, and then complete the object capturing object.
Expansion link 3 in the present invention is connected by linear bearing with scroll chuck 1 central through hole, and pawl is when referring to be connected by roller bearing between 4 tops with scroll chuck 1, interference fit is all adopted to connect, make between scroll chuck 1 and expansion link 3 and scroll chuck 1 and pawl refer to relative displacement not occur between 4 tops, fixed; Bearing pin used in this application can be also short pin for having strong market potential, and is mainly as the criterion in fact to install needs.In the present invention expansion link 3 upper end with do the external drive mechanism reciprocatingly slided and be connected, the external drive mechanism of the application can be driven by the one or more combination type of drive of cylinder, rack-and-pinion, cam or crank rocker etc.Apparatus of the present invention are mainly used in clamping the object that overall profile is similar to cylinder or spheroid, such as filling beer.Apparatus of the present invention overall volume is less, and the size of concrete size is relevant with the size of the object that will clamp.
Embodiment 1
The three-jaw grabbing device (see Fig. 4) of the present embodiment comprises scroll chuck 1, three-jaw clamp 2, expansion link 3 and three pawls and refers to 4, and the top of expansion link 3 is fixed on scroll chuck 1, and bottom is connected with three-jaw clamp 2; Three pawls refer to that 4 tops are fixed in the holding tank of scroll chuck 1, and three pawls refer to that 4 bottoms are fixed in the holding tank of three-jaw clamp 2; Scroll chuck is Y-shaped, and be uniformly distributed circumferentially three pawls, angle between adjacent two pawls is 120 °, scroll chuck 1 center is provided with central through hole 14, linear bearing 11 is provided with in described central through hole, holding tank 12 on the outside of each pawl of scroll chuck 1 is N-shaped groove, and the both sides of N-shaped groove are equipped with tapped through hole 13, and this tapped through hole 13 is equal to the distance of scroll chuck central through hole 14; The shape and structure of described three-jaw clamp 2 is identical with the shape and structure of scroll chuck 1, N-shaped groove on three-jaw clamp 2 is equal with the width of the N-shaped groove on scroll chuck 1, on scroll chuck, tapped through hole is 1.1 times of distance of tapped through hole to the central through hole of three-jaw clamp 2 of the both sides of N-shaped groove on three-jaw clamp 2 to scroll chuck central through hole distance, is provided with screw thread in the central through hole on three-jaw clamp 2; Expansion link 3 top is fixedly connected with scroll chuck 1 central through hole by linear bearing, and expansion link and linear bearing are interference fit, and bottom is connected by the central through hole of screw thread with three-jaw clamp 2; The upper end of described expansion link 3 is connected with external drive mechanism, and described pawl refers to that the quantity of 4 is three, and pawl refers to that 4 tops are provided with hollow circular hole 41, and is provided with roller bearing 43 in hollow circular hole, and pawl refers to that the bottom of 4 is provided with groove 42; Pawl refers to that the width of the thickness of 4 and the N-shaped groove of scroll chuck 1 and three-jaw clamp 2 matches, to refer to the hollow circular hole 41 of 4 through the tapped through hole 13 of the N-shaped groove both sides of scroll chuck 1 and pawl by having strong market potential, and this to have strong market potential with the roller bearing in hollow circular hole be interference fit, pawl is referred to the top of 4 is fixed in the N-shaped groove of scroll chuck 1; Referred to the groove of bottom through the tapped through hole of N-shaped groove both sides on three-jaw clamp 2 and pawl by short pin, pawl is referred to the bottom of 4 is fixed in the N-shaped groove of three-jaw clamp 2, and three-jaw clamp 2 can move up and down in the groove that pawl refers to 4 bottoms, namely the size design that pawl refers to meets the outside by groove when bearing pin moves downward in groove, by the inner side of groove when moving upward..
External drive mechanism in the present embodiment adopts air cylinder driven, drives expansion link 3 action, and then realize the opening and closing movement that three pawls refer to 4 by cylinder action.
Embodiment 2
The present embodiment adopts the connected mode of embodiment 1, its difference is that the holding tank on the outside of each pawl of scroll chuck 1 is rectangular channel, the volume of scroll chuck 1 is 1.5 times of the volume of three-jaw clamp 2, holding tank on the outside of each pawl on three-jaw clamp 2 is also rectangular channel, rectangular channel on three-jaw clamp 2 is equal with the width of the rectangular channel on scroll chuck 1, on scroll chuck 1, tapped through hole is 1.2 times of distance of tapped through hole to the central through hole of three-jaw clamp 2 of the both sides of rectangular channel on three-jaw clamp 2 to scroll chuck 1 central through hole distance, pawl refers to that the width of the thickness of 4 and the rectangular channel of scroll chuck 1 and three-jaw clamp 2 matches.The inwall referring to the groove of bottom at pawl is cast with layer of metal copper.
The external drive mechanism of the present embodiment adopts actuated by cams, is driven the expansion link motion be connected, and then realize the folding that three pawls refer to 4 by the action of cam.
Embodiment 3
The present embodiment adopts the connected mode of embodiment 1, its difference is that the volume of scroll chuck 1 is the volume 2 times of three-jaw clamp 2, on scroll chuck 1, tapped through hole is 1.3 times of distance of tapped through hole to the central through hole of three-jaw clamp 2 of the both sides of rectangular channel on three-jaw clamp 2 to scroll chuck 1 central through hole distance, the width of three-jaw clamp 2 and the holding tank on scroll chuck 1 is not etc., and the width of the holding tank of scroll chuck 1 and pawl refer to that the thickness on 4 tops matches, the width of the holding tank of three-jaw clamp 2 and three pawls refer to that the thickness on 4 tops matches, one deck copper plated material is equipped with in the groove that each pawl refers to 4 bottoms.External drive mechanism adopts crank rocker to drive.
The present invention does not address part and is applicable to prior art.
Claims (5)
1. a three-jaw grabbing device, it is characterized in that this device comprises scroll chuck, three-jaw clamp, expansion link and three pawls and refers to, the top of expansion link is fixed on scroll chuck, the bottom of expansion link is connected with three-jaw clamp, the top that three pawls refer to is separately fixed in the holding tank of scroll chuck, and the bottom that three pawls refer to is separately fixed in the holding tank of three-jaw clamp;
Described scroll chuck has been uniformly distributed circumferentially three pawls, angle between adjacent two pawls is 120 °, scroll chuck center is provided with central through hole, linear bearing is provided with in described central through hole, the outside of each pawl of scroll chuck is equipped with a holding tank, the both sides of holding tank are equipped with tapped through hole, and this tapped through hole is equal to the distance of scroll chuck central through hole; The shape and structure of described three-jaw clamp is identical with the shape and structure of scroll chuck, is provided with screw thread in the central through hole on three-jaw clamp; Expansion link top is fixedly connected with scroll chuck central through hole by linear bearing, and expansion link and linear bearing are interference fit, and bottom is connected by the central through hole of screw thread with three-jaw clamp; The upper end of described expansion link is connected with external drive mechanism, and described pawl refers to that top is provided with hollow circular hole, is provided with roller bearing in hollow circular hole, and pawl refers to that bottom is provided with groove; Pawl refers to that the width of the thickness on top and the holding tank of scroll chuck matches, pawl refers to that the width that bottom is provided with the thickness of the part of groove and the holding tank of three-jaw clamp matches, by the hollow circular hole that bearing pin refers to through the tapped through hole of holding tank both sides and the pawl of scroll chuck, the top referred to by pawl is fixed in the holding tank of scroll chuck, and the roller bearing in this bearing pin and hollow circular hole is interference fit; Referred to the groove of bottom through the tapped through hole of the holding tank both sides on three-jaw clamp and pawl by bearing pin, the bottom referred to by pawl is fixed in the holding tank of three-jaw clamp.
2. three-jaw grabbing device according to claim 1, it is characterized in that the volume of described scroll chuck to be the volume of three-jaw clamp be that 1.5-2 doubly, on scroll chuck, tapped through hole be that the tapped through hole of the both sides of holding tank on three-jaw clamp is to 1.1-1.3 times of the distance of the central through hole of three-jaw clamp to the central through hole distance of scroll chuck.
3. three-jaw grabbing device according to claim 1, is characterized in that described holding tank is N-shaped groove or rectangular channel.
4. three-jaw grabbing device according to claim 1, is characterized in that described pawl refers to that the inwall of the groove of bottom is provided with one deck non-ferrous metal or copper plated material.
5. three-jaw grabbing device according to claim 1, is characterized in that described bearing pin is that non-ferrous metal or copper plated material are made.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510332901.5A CN104890003B (en) | 2015-06-16 | 2015-06-16 | A kind of three-jaw grabbing device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510332901.5A CN104890003B (en) | 2015-06-16 | 2015-06-16 | A kind of three-jaw grabbing device |
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| CN104890003A true CN104890003A (en) | 2015-09-09 |
| CN104890003B CN104890003B (en) | 2017-06-06 |
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| CN201510332901.5A Active CN104890003B (en) | 2015-06-16 | 2015-06-16 | A kind of three-jaw grabbing device |
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Cited By (11)
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| CN105340472A (en) * | 2015-11-12 | 2016-02-24 | 北京师范大学 | Gripper-type waterweed collection device and waterweed collection method |
| CN106003113A (en) * | 2016-06-21 | 2016-10-12 | 王永志 | Electromagnet manipulator |
| CN106015528A (en) * | 2016-07-12 | 2016-10-12 | 合肥工业大学 | Planet gear assembly manipulator |
| CN106735729A (en) * | 2017-03-07 | 2017-05-31 | 成都德瑞斯可科技有限公司 | Pipe bend circumferential weld automatic soldering device and welding method |
| CN107186704A (en) * | 2017-06-30 | 2017-09-22 | 南京理工大学 | A kind of folding three claw robot |
| CN107498578A (en) * | 2017-09-28 | 2017-12-22 | 深圳市优必选科技有限公司 | A kind of robot arm |
| CN107824747A (en) * | 2017-11-10 | 2018-03-23 | 连云港杰瑞自动化有限公司 | A kind of Yan Xin flexible crawls mechanism |
| CN107932537A (en) * | 2017-12-21 | 2018-04-20 | 广州盛原成自动化科技有限公司 | Gripping structure and gripper of industrial robot |
| CN108002131A (en) * | 2017-12-21 | 2018-05-08 | 广州盛原成自动化科技有限公司 | upper yarn and doffing system |
| CN111017709A (en) * | 2019-12-06 | 2020-04-17 | 界首市天瓴建筑工程有限公司 | Hoist and mount formula for building snatchs mechanism |
| CN113091419A (en) * | 2021-06-07 | 2021-07-09 | 长沙杉达机械科技有限公司 | Medical instrument drying device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106735729A (en) * | 2017-03-07 | 2017-05-31 | 成都德瑞斯可科技有限公司 | Pipe bend circumferential weld automatic soldering device and welding method |
| CN107186704A (en) * | 2017-06-30 | 2017-09-22 | 南京理工大学 | A kind of folding three claw robot |
| CN107498578A (en) * | 2017-09-28 | 2017-12-22 | 深圳市优必选科技有限公司 | A kind of robot arm |
| CN107824747A (en) * | 2017-11-10 | 2018-03-23 | 连云港杰瑞自动化有限公司 | A kind of Yan Xin flexible crawls mechanism |
| CN107824747B (en) * | 2017-11-10 | 2023-09-29 | 连云港杰瑞自动化有限公司 | Flexible grabbing mechanism for salt cores |
| CN107932537A (en) * | 2017-12-21 | 2018-04-20 | 广州盛原成自动化科技有限公司 | Gripping structure and gripper of industrial robot |
| CN108002131A (en) * | 2017-12-21 | 2018-05-08 | 广州盛原成自动化科技有限公司 | upper yarn and doffing system |
| CN108002131B (en) * | 2017-12-21 | 2023-08-22 | 广州盛原成自动化科技有限公司 | Yarn feeding and doffing system |
| CN111017709A (en) * | 2019-12-06 | 2020-04-17 | 界首市天瓴建筑工程有限公司 | Hoist and mount formula for building snatchs mechanism |
| CN111017709B (en) * | 2019-12-06 | 2021-03-19 | 陈琳娟 | Hoist and mount formula for building snatchs mechanism |
| CN113091419A (en) * | 2021-06-07 | 2021-07-09 | 长沙杉达机械科技有限公司 | Medical instrument drying device |
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